move_integral_command.hpp

Go to the documentation of this file.

/*****************************************************************************/
/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
/*****************************************************************************/
 
/*
 * Copyright (c) 2022 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_MOVE_INTEGRAL_COMMAND_HPP_
#define TAPROOT_MOVE_INTEGRAL_COMMAND_HPP_
 
#include "tap/algorithms/math_user_utils.hpp"
#include "tap/control/command.hpp"
 
#include "../interfaces/integrable_setpoint_subsystem.hpp"
 
namespace tap::control::setpoint
{
class MoveIntegralCommand : public tap::control::Command
{
public:
    struct Config
    {
        float targetIntegralChange;
        float desiredSetpoint;
        float integralSetpointTolerance;
    };
 
    MoveIntegralCommand(
        IntegrableSetpointSubsystem& integrableSetpointSubsystem,
        const Config& config);
 
    const char* getName() const override { return "move integral command"; }
 
    inline bool isReady() override
    {
        return !integrableSetpointSubsystem.isJammed() && integrableSetpointSubsystem.isOnline();
    }
 
    void initialize() override;
 
    void execute() override {}
 
    void end(bool interrupted) override;
 
    bool isFinished() const override;
 
protected:
    Config config;
 
    IntegrableSetpointSubsystem& integrableSetpointSubsystem;
 
    float finalTargetIntegralSetpoint = 0;
 
    bool targetIntegralReached() const
    {
        if (config.targetIntegralChange > 0)
        {
            return integrableSetpointSubsystem.getCurrentValueIntegral() >
                   finalTargetIntegralSetpoint - config.integralSetpointTolerance;
        }
        else
        {
            return integrableSetpointSubsystem.getCurrentValueIntegral() <
                   finalTargetIntegralSetpoint + config.integralSetpointTolerance;
        }
    }
};  // class MoveIntegralCommand
 
}  // namespace tap::control::setpoint
 
#endif  // TAPROOT_MOVE_INTEGRAL_COMMAND_HPP_